CAD/CAM-based position/force control for a ball-end abrasive tool and its application to an industrial robot

Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for industrial robots. The force feedback loop controls the polishing force consisting of the contact force and kinetic friction force. During mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool doesn't deviate from the desired trajectory and keeps a constant pick feed. When a mold polishing robot with the controller runs, cutter location (CL) data with normal vectors are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The CL data allow the robot to realize a complete non-taught operation of the position and contact direction. In this paper, a simple experiment is conducted by using an industrial robot with a ball-end abrasive tool in order to evaluate the effectiveness of the proposed method. The target workpiece is an aluminum PET bottle blow mold after NC machining, whose curved surface has small cusp marks with about 0.3 mm height every pick feed. The results show that the proposed mold polishing robot with the CAD/CAM-based position/force controller can uniformly remove the cusp marks and further achieve mirror-like surface quality without undesirable over-polishing.

Original languageEnglish
Publication statusPublished - Dec 1 2007
Externally publishedYes
Event4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007 - Fukuoka, Japan
Duration: Nov 7 2007Nov 9 2007

Other

Other4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007
CountryJapan
CityFukuoka
Period11/7/0711/9/07

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Keywords

  • CAD/CAM
  • CL data
  • Force control
  • Industrial robot
  • Mold finishing
  • Position control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

Cite this

Nagata, F., Hase, T., Haga, Z., Omoto, M., & Watanabe, K. (2007). CAD/CAM-based position/force control for a ball-end abrasive tool and its application to an industrial robot. Paper presented at 4th International Conference on Leading Edge Manufacturing in 21st Century, LEM 2007, Fukuoka, Japan.